.ci/docker/env.list

+TRAVIS_OS_NAME
+TRAVIS_PULL_REQUEST
+
+BUILD_NAME
+CC
+CXX
+SUDO

.ci/docker/ubuntu-bionic

+FROM ubuntu:bionic
+
+RUN apt-get update -qq
+RUN apt-get install -y \
+    build-essential  \
+    clang \
+    cmake \
+    curl \
+    git \
+    libgl-dev \
+    libglu-dev \
+    libpython3-dev \
+    lsb-release \
+    pkg-config \
+    python3 \
+    python3-distutils \
+    software-properties-common \
+    sudo

.ci/docker/ubuntu-xenial

+FROM ubuntu:xenial
+
+RUN apt-get update -qq
+RUN apt-get install -y \
+    build-essential  \
+    clang \
+    cmake \
+    curl \
+    git \
+    libgl-dev \
+    libglu-dev \
+    libpython3-dev \
+    lsb-release \
+    pkg-config \
+    python3 \
+    software-properties-common \
+    sudo

.ci/script.sh

+#!/usr/bin/env bash
+set -ex
+
+echo "CXX="$CXX
+echo "CC="$CC
+if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then
+  $SUDO apt-get update
+  $SUDO apt-get install -y python3
+  $SUDO apt-get install -y python3-pip
+  $SUDO pip3 install -U wheel
+  $SUDO pip3 install -U setuptools
+  $SUDO python3 setup.py install
+  python3 examples/pybullet/unittests/unittests.py --verbose
+  python3 examples/pybullet/unittests/userDataTest.py --verbose
+  python3 examples/pybullet/unittests/saveRestoreStateTest.py --verbose
+fi
+cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
+make -j8
+ctest -j8 --output-on-failure
+
+# Build again with double precision
+cmake . -G "Unix Makefiles" -DUSE_DOUBLE_PRECISION=ON #-DCMAKE_CXX_FLAGS=-Werror
+make -j8
+ctest -j8 --output-on-failure
+
+# Build again with shared libraries
+cmake . -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON
+make -j8
+ctest -j8 --output-on-failure
+$SUDO make install

.travis.yml

 language: cpp
-os:
-  - linux
-  - osx
-compiler:
-  - gcc
-  - clang
-addons:
-  apt:
-    packages:
-      - python3
-
+matrix:
+  include:
+    - os: linux
+      compiler: gcc
+      env:
+        - BUILD_NAME=TRUSTY_GCC
+        - SUDO=sudo
+    - os: linux
+      compiler: clang
+      env:
+        - BUILD_NAME=TRUSTY_CLANG
+        - SUDO=sudo
+    - os: linux
+      compiler: gcc
+      env:
+        - BUILD_NAME=XENIAL_GCC
+        - DOCKER_FILE="ubuntu-xenial"
+      services: docker
+    - os: linux
+      compiler: clang
+      env:
+        - BUILD_NAME=XENIAL_CLANG
+        - DOCKER_FILE="ubuntu-xenial"
+      services: docker
+    - os: linux
+      compiler: gcc
+      env:
+        - BUILD_NAME=BIONIC_GCC
+        - DOCKER_FILE="ubuntu-bionic"
+      services: docker
+    - os: linux
+      compiler: clang
+      env:
+        - BUILD_NAME=BIONIC_CLANG
+        - DOCKER_FILE="ubuntu-bionic"
+      services: docker
+    - os: osx
+      compiler: gcc
+      env:
+        - BUILD_NAME=OSX_GCC
+    - os: osx
+      compiler: clang
+      env:
+        - BUILD_NAME=OSX_CLANG
+before_install:
+  - if [ -n "$DOCKER_FILE" ]; then
+      docker build -t "$DOCKER_FILE" -f ".ci/docker/$DOCKER_FILE" .;
+      docker run -itd -v $TRAVIS_BUILD_DIR:$TRAVIS_BUILD_DIR --env-file .ci/docker/env.list --name bullet-docker "$DOCKER_FILE";
+    fi
 script:
-  - echo "CXX="$CXX
-  - echo "CC="$CC
-  - cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
-  - make -j8
-  - ctest -j8 --output-on-failure
-  # Build again with double precision
-  - cmake . -G "Unix Makefiles" -DUSE_DOUBLE_PRECISION=ON #-DCMAKE_CXX_FLAGS=-Werror
-  - make -j8
-  - ctest -j8 --output-on-failure
-  # Build again with shared libraries
-  - cmake . -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON
-  - make -j8
-  - ctest -j8 --output-on-failure
-  - sudo make install
+  - if [ -n "$DOCKER_FILE" ]; then
+      docker exec bullet-docker /bin/sh -c "cd $TRAVIS_BUILD_DIR && ./.ci/script.sh";
+    else
+      '.ci/script.sh';
+    fi

CMakeLists.txt

@@ -26,16 +26,16 @@ SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
 OPTION(USE_DOUBLE_PRECISION "Use double precision"	OFF)
 OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
 OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
-OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)
+OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" ON)
 
-OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
-IF (BULLET2_USE_THREAD_LOCKS)
+OPTION(BULLET2_MULTITHREADING "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
+IF (BULLET2_MULTITHREADING)
     OPTION(BULLET2_USE_OPEN_MP_MULTITHREADING "Build Bullet 2 with support for multi-threading with OpenMP (requires a compiler with OpenMP support)" OFF)
     OPTION(BULLET2_USE_TBB_MULTITHREADING "Build Bullet 2 with support for multi-threading with Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF)
     IF (MSVC)
         OPTION(BULLET2_USE_PPL_MULTITHREADING "Build Bullet 2 with support for multi-threading with Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF)
     ENDIF (MSVC)
-ENDIF (BULLET2_USE_THREAD_LOCKS)
+ENDIF (BULLET2_MULTITHREADING)
 
 
 IF(NOT WIN32)
@@ -108,7 +108,7 @@ IF(MSVC)
 	IF (CMAKE_CL_64)
 	  ADD_DEFINITIONS(-D_WIN64)
 	ELSE()
-	  OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option"	ON)
+	  OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option"	OFF)
 	  option(USE_MSVC_SSE2 "Compile your program with SSE2 instructions" ON)
 
 	  IF (USE_MSVC_SSE)
@@ -217,20 +217,23 @@ ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
 SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
 ENDIF (USE_DOUBLE_PRECISION)
 
-IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
-ADD_DEFINITIONS(-DUSE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
-ENDIF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+IF (NOT USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+ADD_DEFINITIONS(-DSKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+ENDIF ()
 
 IF(USE_GRAPHICAL_BENCHMARK)
 ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
 ENDIF (USE_GRAPHICAL_BENCHMARK)
 
-IF(BULLET2_USE_THREAD_LOCKS)
+IF(BULLET2_MULTITHREADING)
 	ADD_DEFINITIONS( -DBT_THREADSAFE=1 )
 	IF (NOT MSVC)
 		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 	ENDIF (NOT MSVC)
-ENDIF (BULLET2_USE_THREAD_LOCKS)
+	IF (NOT WIN32)
+		LINK_LIBRARIES( pthread )
+	ENDIF (NOT WIN32)
+ENDIF (BULLET2_MULTITHREADING)
 
 IF (BULLET2_USE_OPEN_MP_MULTITHREADING)
     ADD_DEFINITIONS("-DBT_USE_OPENMP=1")

Extras/BulletRobotics/CMakeLists.txt

@@ -2,16 +2,24 @@
 INCLUDE_DIRECTORIES(
 		${BULLET_PHYSICS_SOURCE_DIR}/src
 		${BULLET_PHYSICS_SOURCE_DIR}/examples
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
 )
 
 SET(BulletRobotics_SRCS
+		../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
+		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
+		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
 		../../examples/SharedMemory/IKTrajectoryHelper.cpp
 		../../examples/SharedMemory/IKTrajectoryHelper.h
-		../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
-		../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
 		../../examples/OpenGLWindow/SimpleCamera.cpp
 		../../examples/OpenGLWindow/SimpleCamera.h
 		../../examples/TinyRenderer/geometry.cpp
@@ -59,10 +67,7 @@ SET(BulletRobotics_SRCS
 		../../examples/Utils/b3ReferenceFrameHelper.hpp
 		../../examples/Utils/ChromeTraceUtil.cpp
 
-		../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
-		../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
-		../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
-		../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
+		../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
 
 		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
 		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
@@ -93,8 +98,6 @@ SET(BulletRobotics_SRCS
 		../../examples/MultiThreading/b3PosixThreadSupport.cpp
 		../../examples/MultiThreading/b3Win32ThreadSupport.cpp
 		../../examples/MultiThreading/b3ThreadSupportInterface.cpp
-		
-
 )
 
 IF(BUILD_CLSOCKET)
@@ -102,9 +105,6 @@ IF(BUILD_CLSOCKET)
 ENDIF(BUILD_CLSOCKET)
 
 IF(WIN32)
-	LINK_LIBRARIES(
-		${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
-	)
 	IF(BUILD_ENET)
 		ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
 	ENDIF(BUILD_ENET)
@@ -120,6 +120,10 @@ ELSE(WIN32)
 	IF(BUILD_CLSOCKET)	
 		ADD_DEFINITIONS(${OSDEF})
 	ENDIF(BUILD_CLSOCKET)
+		
+	IF(NOT APPLE)
+		LINK_LIBRARIES(  pthread ${DL} )
+	ENDIF(NOT APPLE)
 ENDIF(WIN32)
 
 IF(BUILD_ENET)
@@ -175,6 +179,8 @@ IF (INSTALL_EXTRA_LIBS)
 		../../examples/SharedMemory/PhysicsClientTCP_C_API.h
 		../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
 		../../examples/SharedMemory/SharedMemoryPublic.h
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
 		DESTINATION include/bullet
 		)
 	INSTALL(TARGETS

Extras/BulletRobotics/premake4.lua

+		
+
+project ("BulletRobotics")
+		language "C++"
+		kind "StaticLib"
+		
+		includedirs {"../../src", "../../examples",
+		"../../examples/ThirdPartyLibs"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+	hasCL = findOpenCL("clew")
+
+	links{"BulletExampleBrowserLib","gwen", "BulletFileLoader","BulletWorldImporter","OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
+	initOpenGL()
+	initGlew()
+
+  	includedirs {
+                "../../src",
+                "../../examples",
+                "../../examples/SharedMemory",
+                "../ThirdPartyLibs",
+                "../ThirdPartyLibs/enet/include",
+                "../ThirdPartyLibs/clsocket/src",
+                }
+
+	if os.is("MacOSX") then
+--		targetextension {"so"}
+		links{"Cocoa.framework","Python"}
+	end
+
+	
+if not _OPTIONS["no-enet"] then
+
+		includedirs {"../../examples/ThirdPartyLibs/enet/include"}
+	
+		if os.is("Windows") then 
+--			targetextension {"dylib"}
+			defines { "WIN32" }
+			links {"Ws2_32","Winmm"}
+		end
+		if os.is("Linux") then
+		end
+		if os.is("MacOSX") then
+		end		
+		
+		links {"enet"}		
+
+		files {
+			"../../examples/SharedMemory/PhysicsClientUDP.cpp",
+			"../../examples/SharedMemory/PhysicsClientUDP.h",
+			"../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp",
+			"../../examples/SharedMemory/PhysicsClientUDP_C_API.h",
+		}	
+		defines {"BT_ENABLE_ENET"}
+	end
+
+	if not _OPTIONS["no-clsocket"] then
+
+                includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
+
+		 if os.is("Windows") then
+                	defines { "WIN32" }
+                	links {"Ws2_32","Winmm"}
+       		 end
+        	if os.is("Linux") then
+                	defines {"_LINUX"}
+        	end
+        	if os.is("MacOSX") then
+                	defines {"_DARWIN"}
+        	end
+
+                links {"clsocket"}
+
+                files {
+                        "../../examples/SharedMemory/PhysicsClientTCP.cpp",
+                        "../../examples/SharedMemory/PhysicsClientTCP.h",
+                        "../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
+                        "../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
+                }
+                defines {"BT_ENABLE_CLSOCKET"}
+        end
+
+
+		files {
+		"../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
+		"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
+		"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
+		"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",
+		"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h",
+		"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
+		"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
+		"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
+		"../../examples/SharedMemory/IKTrajectoryHelper.h",
+		"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
+		"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
+		"../../examples/OpenGLWindow/SimpleCamera.cpp",
+		"../../examples/OpenGLWindow/SimpleCamera.h",
+		"../../examples/TinyRenderer/geometry.cpp",
+		"../../examples/TinyRenderer/model.cpp",
+		"../../examples/TinyRenderer/tgaimage.cpp",
+		"../../examples/TinyRenderer/our_gl.cpp",
+		"../../examples/TinyRenderer/TinyRenderer.cpp",
+		"../../examples/SharedMemory/InProcessMemory.cpp",
+		"../../examples/SharedMemory/PhysicsClient.cpp",
+		"../../examples/SharedMemory/PhysicsClient.h",
+		"../../examples/SharedMemory/PhysicsServer.cpp",
+		"../../examples/SharedMemory/PhysicsServer.h",
+		"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
+		"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
+		"../../examples/SharedMemory/PhysicsDirect.cpp",
+		"../../examples/SharedMemory/PhysicsDirect.h",
+		"../../examples/SharedMemory/PhysicsDirectC_API.cpp",
+		"../../examples/SharedMemory/PhysicsDirectC_API.h",
+		"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
+		"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
+		"../../examples/SharedMemory/b3PluginManager.cpp",
+		"../../examples/SharedMemory/b3PluginManager.h",
+				
+		"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
+		"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
+		"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
+		"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
+		"../../examples/SharedMemory/PhysicsClientC_API.cpp",
+	
+		"../../examples/SharedMemory/PhysicsClientC_API.h",
+		"../../examples/SharedMemory/SharedMemoryPublic.h",
+
+		"../../examples/SharedMemory/Win32SharedMemory.cpp",
+		"../../examples/SharedMemory/Win32SharedMemory.h",
+		"../../examples/SharedMemory/PosixSharedMemory.cpp",
+		"../../examples/SharedMemory/PosixSharedMemory.h",
+
+		"../../examples/Utils/b3ResourcePath.cpp",
+		"../../examples/Utils/b3ResourcePath.h",
+		"../../examples/Utils/RobotLoggingUtil.cpp",
+		"../../examples/Utils/RobotLoggingUtil.h",
+		"../../examples/Utils/b3Clock.cpp",
+		"../../examples/Utils/b3ResourcePath.cpp",
+		"../../examples/Utils/b3ERPCFMHelper.hpp",
+		"../../examples/Utils/b3ReferenceFrameHelper.hpp",
+		"../../examples/Utils/ChromeTraceUtil.cpp",
+
+		"../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
+
+		"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
+		"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
+
+		"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
+
+		"../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/Misc.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/Node.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/Tree.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp",
+
+		"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
+		"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
+		"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
+		"../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
+		"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
+		"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
+		"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
+		"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
+		"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
+		"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
+
+		"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
+		"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
+		"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
+			}
+			
+if (_OPTIONS["enable_static_vr_plugin"]) then
+		files {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
+end
+
+
+	

Extras/ConvexDecomposition/premake4.lua

@@ -3,6 +3,9 @@
 	kind "StaticLib"
 	
 	includedirs {".","../../src"}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"**.cpp",
 		"**.h"

Extras/HACD/premake4.lua

@@ -3,6 +3,9 @@
 	kind "StaticLib"
 	
 	includedirs {"."}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"**.cpp",
 		"**.h"

Extras/InverseDynamics/CloneTreeCreator.cpp

@@ -6,7 +6,7 @@ namespace btInverseDynamics {
 #define CHECK_NULLPTR()                                                                            \
     do {                                                                                           \
         if (m_reference == 0x0) {                                                                      \
-            error_message("m_reference == 0x0\n");                                                     \
+            bt_id_error_message("m_reference == 0x0\n");                                                     \
             return -1;                                                                             \
         }                                                                                          \
     } while (0)
@@ -14,7 +14,7 @@ namespace btInverseDynamics {
 #define TRY(x)                                                                                     \
     do {                                                                                           \
         if (x == -1) {                                                                             \
-            error_message("error calling " #x "\n");                                               \
+            bt_id_error_message("error calling " #x "\n");                                               \
             return -1;                                                                             \
         }                                                                                          \
     } while (0)

Extras/InverseDynamics/CoilCreator.cpp

@@ -48,7 +48,7 @@ int CoilCreator::getBody(int body_index, int* parent_index, JointType* joint_typ
                          vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
                          mat33* body_I_body, int* user_int, void** user_ptr) const {
     if (body_index < 0 || body_index >= m_num_bodies) {
-        error_message("invalid body index %d\n", body_index);
+        bt_id_error_message("invalid body index %d\n", body_index);
         return -1;
     }
     *parent_index = m_parent[body_index];

Extras/InverseDynamics/DillCreator.cpp

@@ -32,7 +32,7 @@ DillCreator::DillCreator(int level)
     const idScalar alpha_DH = 0.0;
 
     if (-1 == recurseDill(m_level, parent, d_DH, a_DH, alpha_DH)) {
-        error_message("recurseDill failed\n");
+        bt_id_error_message("recurseDill failed\n");
         abort();
     }
 }
@@ -49,7 +49,7 @@ int DillCreator::getBody(const int body_index, int* parent_index, JointType* joi
                          vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
                          mat33* body_I_body, int* user_int, void** user_ptr) const {
     if (body_index < 0 || body_index >= m_num_bodies) {
-        error_message("invalid body index %d\n", body_index);
+        bt_id_error_message("invalid body index %d\n", body_index);
         return -1;
     }
     *parent_index = m_parent[body_index];
@@ -69,12 +69,12 @@ int DillCreator::getBody(const int body_index, int* parent_index, JointType* joi
 int DillCreator::recurseDill(const int level, const int parent, const idScalar d_DH_in,
                              const idScalar a_DH_in, const idScalar alpha_DH_in) {
     if (level < 0) {
-        error_message("invalid level parameter (%d)\n", level);
+        bt_id_error_message("invalid level parameter (%d)\n", level);
         return -1;
     }
 
     if (m_current_body >= m_num_bodies || m_current_body < 0) {
-        error_message("invalid body parameter (%d, num_bodies: %d)\n", m_current_body,
+        bt_id_error_message("invalid body parameter (%d, num_bodies: %d)\n", m_current_body,
                       m_num_bodies);
         return -1;
     }

Extras/InverseDynamics/MultiBodyNameMap.cpp

@@ -6,11 +6,11 @@ MultiBodyNameMap::MultiBodyNameMap() {}
 
 int MultiBodyNameMap::addBody(const int index, const std::string& name) {
     if (m_index_to_body_name.count(index) > 0) {
-        error_message("trying to add index %d again\n", index);
+        bt_id_error_message("trying to add index %d again\n", index);
         return -1;
     }
     if (m_body_name_to_index.count(name) > 0) {
-        error_message("trying to add name %s again\n", name.c_str());
+        bt_id_error_message("trying to add name %s again\n", name.c_str());
         return -1;
     }
 
@@ -22,11 +22,11 @@ int MultiBodyNameMap::addBody(const int index, const std::string& name) {
 
 int MultiBodyNameMap::addJoint(const int index, const std::string& name) {
     if (m_index_to_joint_name.count(index) > 0) {
-        error_message("trying to add index %d again\n", index);
+        bt_id_error_message("trying to add index %d again\n", index);
         return -1;
     }
     if (m_joint_name_to_index.count(name) > 0) {
-        error_message("trying to add name %s again\n", name.c_str());
+        bt_id_error_message("trying to add name %s again\n", name.c_str());
         return -1;
     }
 
@@ -39,7 +39,7 @@ int MultiBodyNameMap::addJoint(const int index, const std::string& name) {
 int MultiBodyNameMap::getBodyName(const int index, std::string* name) const {
     std::map<int, std::string>::const_iterator it = m_index_to_body_name.find(index);
     if (it == m_index_to_body_name.end()) {
-        error_message("index %d not known\n", index);
+        bt_id_error_message("index %d not known\n", index);
         return -1;
     }
     *name = it->second;
@@ -49,7 +49,7 @@ int MultiBodyNameMap::getBodyName(const int index, std::string* name) const {
 int MultiBodyNameMap::getJointName(const int index, std::string* name) const {
     std::map<int, std::string>::const_iterator it = m_index_to_joint_name.find(index);
     if (it == m_index_to_joint_name.end()) {
-        error_message("index %d not known\n", index);
+        bt_id_error_message("index %d not known\n", index);
         return -1;
     }
     *name = it->second;
@@ -59,7 +59,7 @@ int MultiBodyNameMap::getJointName(const int index, std::string* name) const {
 int MultiBodyNameMap::getBodyIndex(const std::string& name, int* index) const {
     std::map<std::string, int>::const_iterator it = m_body_name_to_index.find(name);
     if (it == m_body_name_to_index.end()) {
-        error_message("name %s not known\n", name.c_str());
+        bt_id_error_message("name %s not known\n", name.c_str());
         return -1;
     }
     *index = it->second;
@@ -69,7 +69,7 @@ int MultiBodyNameMap::getBodyIndex(const std::string& name, int* index) const {
 int MultiBodyNameMap::getJointIndex(const std::string& name, int* index) const {
     std::map<std::string, int>::const_iterator it = m_joint_name_to_index.find(name);
     if (it == m_joint_name_to_index.end()) {
-        error_message("name %s not known\n", name.c_str());
+        bt_id_error_message("name %s not known\n", name.c_str());
         return -1;
     }
     *index = it->second;

Extras/InverseDynamics/MultiBodyTreeCreator.cpp

@@ -17,7 +17,7 @@ MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
 
     MultiBodyTree* tree = new MultiBodyTree();
     if (0x0 == tree) {
-        error_message("cannot allocate tree\n");
+        bt_id_error_message("cannot allocate tree\n");
         return 0x0;
     }
 
@@ -26,7 +26,7 @@ MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
 
     // get number of bodies in the system
     if (-1 == creator.getNumBodies(&num_bodies)) {
-        error_message("getting body indices\n");
+        bt_id_error_message("getting body indices\n");
         delete tree;
         return 0x0;
     }
@@ -38,7 +38,7 @@ MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
             creator.getBody(index, &parent_index, &joint_type, &body_r_parent_body_ref,
                             &body_R_parent_ref, &body_axis_of_motion, &mass, &body_r_body_com,
                             &body_I_body, &user_int, &user_ptr)) {
-            error_message("getting data for body %d\n", index);
+            bt_id_error_message("getting data for body %d\n", index);
             delete tree;
             return 0x0;
         }
@@ -47,14 +47,14 @@ MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
             tree->addBody(index, parent_index, joint_type, body_r_parent_body_ref,
                           body_R_parent_ref, body_axis_of_motion, mass, body_r_body_com,
                           body_I_body, user_int, user_ptr)) {
-            error_message("adding body %d\n", index);
+            bt_id_error_message("adding body %d\n", index);
             delete tree;
             return 0x0;
         }
     }
     // finalize initialization
     if (-1 == tree->finalize()) {
-        error_message("building system\n");
+        bt_id_error_message("building system\n");
         delete tree;
         return 0x0;
     }

Extras/InverseDynamics/MultiBodyTreeDebugGraph.cpp

@@ -7,17 +7,17 @@ namespace btInverseDynamics {
 int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
                          const char* filename) {
     if (0x0 == tree) {
-        error_message("tree pointer is null\n");
+        bt_id_error_message("tree pointer is null\n");
         return -1;
     }
     if (0x0 == filename) {
-        error_message("filename is null\n");
+        bt_id_error_message("filename is null\n");
         return -1;
     }
 
     FILE* fp = fopen(filename, "w");
     if (NULL == fp) {
-        error_message("cannot open file %s for writing\n", filename);
+        bt_id_error_message("cannot open file %s for writing\n", filename);
         return -1;
     }
     fprintf(fp, "// to generate postscript file, run dot -Tps %s -o %s.ps\n"
@@ -29,7 +29,7 @@ int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
         std::string name;
         if (0x0 != map) {
             if (-1 == map->getBodyName(body, &name)) {
-                error_message("can't get name of body %d\n", body);
+                bt_id_error_message("can't get name of body %d\n", body);
                 return -1;
             }
             fprintf(fp, "              %d [label=\"%d/%s\"];\n", body, body, name.c_str());
@@ -40,15 +40,15 @@ int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
         const char* joint_type;
         int qi;
         if (-1 == tree->getParentIndex(body, &parent)) {
-            error_message("indexing error\n");
+            bt_id_error_message("indexing error\n");
             return -1;
         }
         if (-1 == tree->getJointTypeStr(body, &joint_type)) {
-            error_message("indexing error\n");
+            bt_id_error_message("indexing error\n");
             return -1;
         }
         if (-1 == tree->getDoFOffset(body, &qi)) {
-            error_message("indexing error\n");
+            bt_id_error_message("indexing error\n");
             return -1;
         }
         if (-1 != parent) {

Extras/InverseDynamics/RandomTreeCreator.cpp

@@ -47,7 +47,7 @@ int RandomTreeCreator::getBody(const int body_index, int* parent_index, JointTyp
             *joint_type = FLOATING;
             break;
         default:
-            error_message("randomInt() result out of range\n");
+            bt_id_error_message("randomInt() result out of range\n");
             return -1;
     }
 

Extras/InverseDynamics/User2InternalIndex.cpp

@@ -35,7 +35,7 @@ int User2InternalIndex::buildMapping() {
             user_root_index = current_root_index;
         } else {
             if (user_root_index != current_root_index) {
-                error_message("multiple roots (at least) %d and %d\n", user_root_index,
+                bt_id_error_message("multiple roots (at least) %d and %d\n", user_root_index,
                               current_root_index);
                 return -1;
             }
@@ -75,7 +75,7 @@ int User2InternalIndex::user2internal(const int user, int *internal) const {
         *internal = it->second;
         return 0;
     } else {
-        error_message("no user index %d\n", user);
+        bt_id_error_message("no user index %d\n", user);
         return -1;
     }
 }
@@ -92,7 +92,7 @@ int User2InternalIndex::internal2user(const int internal, int *user) const {
         *user = it->second;
         return 0;
     } else {
-        error_message("no internal index %d\n", internal);
+        bt_id_error_message("no internal index %d\n", internal);
         return -1;
     }
 }

Extras/InverseDynamics/btMultiBodyFromURDF.hpp

@@ -44,7 +44,7 @@ public:
     void init() {
         this->createEmptyDynamicsWorld();
         m_dynamicsWorld->setGravity(m_gravity);
-        BulletURDFImporter urdf_importer(&m_nogfx,0,1);
+        BulletURDFImporter urdf_importer(&m_nogfx,0,1,0);
         URDFImporterInterface &u2b(urdf_importer);
         bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed);
 

Extras/InverseDynamics/btMultiBodyTreeCreator.cpp

@@ -6,7 +6,7 @@ btMultiBodyTreeCreator::btMultiBodyTreeCreator() : m_initialized(false) {}
 
 int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const bool verbose) {
     if (0x0 == btmb) {
-        error_message("cannot create MultiBodyTree from null pointer\n");
+        bt_id_error_message("cannot create MultiBodyTree from null pointer\n");
         return -1;
     }
 
@@ -184,10 +184,10 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
                 link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
                 break;
             case btMultibodyLink::eSpherical:
-                error_message("spherical joints not implemented\n");
+                bt_id_error_message("spherical joints not implemented\n");
                 return -1;
             case btMultibodyLink::ePlanar:
-                error_message("planar joints not implemented\n");
+                bt_id_error_message("planar joints not implemented\n");
                 return -1;
             case btMultibodyLink::eFixed:
                 link.joint_type = FIXED;
@@ -203,7 +203,7 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
                 link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
                 break;
             default:
-                error_message("unknown btMultiBody::eFeatherstoneJointType %d\n",
+                bt_id_error_message("unknown btMultiBody::eFeatherstoneJointType %d\n",
                               bt_link.m_jointType);
                 return -1;
         }
@@ -231,7 +231,7 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
 
 int btMultiBodyTreeCreator::getNumBodies(int *num_bodies) const {
     if (false == m_initialized) {
-        error_message("btMultiBody not converted yet\n");
+        bt_id_error_message("btMultiBody not converted yet\n");
         return -1;
     }
 
@@ -245,12 +245,12 @@ int btMultiBodyTreeCreator::getBody(const int body_index, int *parent_index, Joi
                                     vec3 *body_r_body_com, mat33 *body_I_body, int *user_int,
                                     void **user_ptr) const {
     if (false == m_initialized) {
-        error_message("MultiBodyTree not created yet\n");
+        bt_id_error_message("MultiBodyTree not created yet\n");
         return -1;
     }
 
     if (body_index < 0 || body_index >= static_cast<int>(m_data.size())) {
-        error_message("index out of range (got %d but only %zu bodies)\n", body_index,
+        bt_id_error_message("index out of range (got %d but only %zu bodies)\n", body_index,
                       m_data.size());
         return -1;
     }